US20180310471A1 - Electric mower with automatic blade unblocking and method for controlling the mower - Google Patents

Electric mower with automatic blade unblocking and method for controlling the mower Download PDF

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Publication number
US20180310471A1
US20180310471A1 US15/770,318 US201615770318A US2018310471A1 US 20180310471 A1 US20180310471 A1 US 20180310471A1 US 201615770318 A US201615770318 A US 201615770318A US 2018310471 A1 US2018310471 A1 US 2018310471A1
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Prior art keywords
blade
rotation
mower
electric motor
phase
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Abandoned
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US15/770,318
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English (en)
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Roger Pellenc
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Pellenc SAS
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Pellenc SAS
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Assigned to PELLENC (SOCIETE ANONYME) reassignment PELLENC (SOCIETE ANONYME) ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PELLENC, ROGER
Publication of US20180310471A1 publication Critical patent/US20180310471A1/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/76—Driving mechanisms for the cutters
    • A01D34/78—Driving mechanisms for the cutters electric
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/6806—Driving mechanisms
    • A01D34/6818—Motor starting mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/685—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with two or more cutters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/74—Cutting-height adjustment
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the present invention relates to an electric mower of the battery-operated type, provided with an automatic blade unblocking function. It also relates to a method for controlling such a mower, and in particular for its blade drive motor.
  • the invention finds applications in the area of battery-operated lawn mowers or brush mowers, used for the upkeep of private or public green spaces. It can be applied on walk-behind or riding mowers, or even on autonomous robotic mowers.
  • Mowers used for the upkeep of green spaces feature mostly a cutter casing which houses at least one rotary blade, and a blade drive motor.
  • the motor may be a thermal engine or an electric motor.
  • Each blade may be driven by its own motor or all blades may be driven by a single motor.
  • Such accumulations are susceptible of slowing the movement of the cutting blade(s) or even of blocking it or them.
  • the document EP 2,425,701 proposes modulating the cutting height of an autonomous electric mower, thereby avoiding an overload of the blade while mowing, and thus a jamming of the blade.
  • thermal engines are equipped with recoil starter ropes. Actuation of the starter rope by an operator, to start the motor, generally results in forced rotation of the blades in the cutting direction with a significant torque at the rotation axis of the blade. Also, actuation of the starter rope may, because of this rotation, suffice to dislodge the plant clumps which obstruct the cutter casing.
  • Dislodging the clumps requires in this case an intervention by the user on the blades and particularly in proximity of their cutting portion. Such an intervention is not only time consuming but above all dangerous. It is therefore not desirable.
  • the present invention aims to propose an electric mower that does not present the afore-mentioned difficulties.
  • One aim is in particular to propose an electric mower provided with an automatic un amming or freeing function of the blades, without the user having to intervene on the blades.
  • One aim of the invention is also to propose an electric mower capable of starting, notwithstanding any plant clumps susceptible of hindering the free rotation of the blades.
  • Yet another aim of the invention is to propose an electric mower capable of surmounting a clogging situation while mowing, causing a slowing or even a jamming of the blades.
  • one aim of the invention is to propose a method for controlling an electric mower achieving automatic freeing of the cutting blade(s).
  • the invention relates more precisely to an electric mower comprising:
  • At least one rotary cutting blade At least one rotary cutting blade
  • the control unit can also be configured to detect a possible situation of blade jamming, during a startup of the electric motor, and to automatically initiate the blade startup phase in response to a jamming situation.
  • the mower according to the invention may be equipped with several cutting blades.
  • the cutting blades may be blades turning around an essentially vertical axis, in a mowing position of the mower, or around an essentially horizontal axis.
  • the blades turn around an essentially horizontal axis in the case of mowers provided with a helical cutting reel.
  • a single electric motor for driving the blades may be provided.
  • the electronic control unit is then configured for controlling the drive motor or motors of the various cutting blades.
  • the invention is based on the established fact that the obstacle to rotation constituted by a clump of plant material does not necessarily oppose the same resistance to rotation in the two possible directions of rotation of the blade. A slight dislodging movement of the blade often turns out to be possible at least over a fraction of a blade revolution.
  • the transitory control of the motor in the second direction of rotation during the startup phase of the blade makes it possible to free the blade and, to ensure a free course of the blade, over a portion of blade revolution. If this free course does not entirely free the blade it allows the blade at least to acquire a certain rotation speed and hence a kinetic moment of rotation.
  • the kinetic moment of rotation is used to overcome the possible blockage in the case where the torque alone of the motor would be insufficient.
  • the blade may also encounter the possible clump of plant material during its rotation in the opposite direction, thus destabilizing it and diminishing its resistance at the next contact with the blade after it resumes its rotation in the direction of the cutting action.
  • the control unit can moreover be configured to detect a persistent blocking situation of the blade during the startup phase and in order to cause, in this event, a dislodging operation comprising the control of a sequence of rotations of the electric motor alternatively in the first and in the second direction of rotation. This corresponds to a less favorable situation in which a simple counter-rotation in the startup phase is insufficient to unblock the blade.
  • the control of a new rotation sequence in one direction of rotation and then in the inverse direction allows the user to agree and to increase the chances of overcoming the blockage of the blade.
  • the dislodging operation can be interrupted:
  • the energy supply to the motor can be interrupted automatically in order to safeguard the motor and, if applicable, to alert the operator so he can intervene in the proximity of the blade.
  • the blade startup phase is considered to be initiated automatically when it is initiated in the absence of a command by a user of the mower, specific to the blade startup phase.
  • a command by the user for the start or restart of the mower is not considered to be a command specific at the blade startup phase.
  • control unit can be configured to detect a blade blockage situation during a start of the electric motor driving the cutting blade, and to initiate automatically the blade startup phase in response to the detection of a blockage situation.
  • the startup phase is not necessarily initiated in all start cases but can be initiated only if a blockage situation is detected. In this case as well, a blockage situation remains transparent for the operator whose only action is then to launch a mower start.
  • a blade blockage situation is also indicated by a blockage of the blade drive motor, due to their being coupled in rotation. It is considered that a blockage corresponds either to a total absence of rotation, or to limited rotation less than one revolution, or also a rotation at a speed of rotation that is much inferior, for example by a factor of 10, to a desired speed of rotation.
  • the mower may feature a command interface connected to the motor control unit, the command interface including a trigger element of the blade startup phase.
  • initiation of the startup phase requires an action by the mower operator on the manual trigger element of the interface, for example a knob, a lever or a pedal.
  • control unit may be equipped with a measuring circuit of at least one of an induction current in a winding of the electric motor and an electric supply current of the electric motor.
  • the measurement of induction currents in the windings of the motor stator is used to determine the position of the rotor and to control the supply currents of the motor. Detection of an absence of induction currents by the rotor, in spite of the electric power supply to the motor, characterizes a blocking situation of the motor and hence of the cutting blade.
  • a blocking situation can thus be established without a rotation or rotation speed sensor associated to the motor or the cutting blade.
  • a measuring circuit of the induction current can be provided for one or several stator windings.
  • Brushless motors of the type used within the context of the invention present in effect a stator with several windings, generally three in number or more to which supply voltages are cyclically applied to make the motor rotate. It is a multiphase voltage controller, such as a three-phase controller for example.
  • Measurement of the induction current is not a direct measurement, but an indirect measurement established from a measurement of currents in at least two stator windings, for a three-phase motor.
  • the current circulating in the stator windings depends in effect on the voltages applied to the windings, the electric resistance of the windings, the inductions of the windings and on the effect of a back-electromotive force resulting from the movement of the rotor magnets in front of the stator windings. It is the portion of the current resulting from this back-electromotive force, called induction current, which makes it possible to determine the rotation, the absence of rotation and, if applicable, the speed of motor rotation.
  • the induction current is measured indirectly because it is established based on the current measured in several windings and based on the other parameters mentioned above.
  • the blockage of the motor is indicative of a blockage of the blade by reason of the coupling in rotation of the motor and the blade.
  • the control unit may also feature a measuring circuit of the supply current.
  • the measurement of the supply current means the current applied either to one or more particular windings of the stator or to all the stator windings.
  • a blockage situation of the cutting blade and of the motor is characterized by a simple electric overconsumption of the motor. This option is not part of the claimed invention.
  • the mower may feature an adjustment mechanism for the cutting height. It is, for example, an electric jack, and a jack control unit. It may be configured to increase automatically the cutting height at the blade startup phase or at a jam.
  • the cutting height adjustment mechanism may act, for example, on the position of the mower wheels, on the position of a cutting unit relative to a frame of the mower or also on a height position of the cutting blade relative to a frame of the mower.
  • a control method of the mower may feature:
  • the different phases of the method can be initiated or repeated several times. Incidentally, the order of the different phases can be different from the one indicated above.
  • the mowing phase corresponds to a blade rotation in a direction suitable for cutting possibly present plants to be mowed. It does not necessarily imply the actual mowing of plants, nor the actual presence of plants in the cutting zone of the blade.
  • the blade startup phase is initiated during a start of the motor when it is consecutive to powering up the electric blade drive motor.
  • Detection of a blade blockage situation can be characterized, as previously described, by an absence of rotation of the motor and/or the blade. It can also be characterized by an abnormally slow rotation speed of the motor.
  • the blade startup phase can be initiated in response to the detection of a rotation speed of the electric motor in the first direction of rotation, that is below a reference speed.
  • the blade startup phase is transitory to the extent that it is not a permanent mode of operation of the mower. It is followed by the mowing phase, or in case of a persistent blockage of the cutting blade, by a rest phase.
  • the startup phase is also transitory to the extent that it is preferably limited in duration.
  • the blade startup phase may be maintained, for example, over a length of time corresponding to a fraction of a revolution of the cutting blade.
  • the blade startup phase can also be maintained over a length of time corresponding to a number of revolutions of the cutting blade between 0.5 and 5.
  • the method may feature either a resumption of the mowing phase or a continuation of the mowing phase.
  • resumption of the mowing phase, or continuation of the mowing phase respectively may be conditional of a rotation speed of the motor or of the blade, during the blade startup phase, that is above a reference value.
  • a dislodging phase including, in the manner already described, an alternation of rotations in the first direction of rotation and in the second direction of rotation, can also be initiated.
  • the blade startup phase may feature a transitory lifting of a cutting height of the mower.
  • FIG. 1 is a perspective view of a walk-behind mower according to the invention.
  • FIG. 2 is a partial view of the mower of FIG. 1 passing through the drive shafts of cutting blades.
  • FIG. 3 is a flow chart illustrating the main aspects of a method for controlling the mower.
  • the mower of FIG. 1 is a mower 10 of the walk-behind type. It comprises a cutting unit 20 mounted on a frame 14 .
  • the cutting unit is connected to the frame by a parallelogram suspension not visible on FIG. 1 . It presents freedom of vertical travel relative to the frame 14 so as to be able to move it closer to or further away from the ground and thereby modify the cutting height.
  • the vertical travel of the cutting unit is performed by an electric jack mechanism 16 .
  • An interface 18 located at the end of a handlebar includes various controls and possibly a visual display unit. It enables the operator to operate the mower by regulating, as needed, its operating parameters.
  • the cutting unit 20 includes a cutter casing 22 housing two cutting blades 24 a, 24 b and presenting an elimination channel 25 of the mowed grass clippings towards a collection bin 26 visible on FIG. 1 .
  • the cutting unit 20 includes also a blade drive motor 30 . It is an electric motor, and in the example shown, it is a brushless motor.
  • the blade drive motor 30 includes a motor shaft 32 a at the end of which is mounted one of the cutting blades 24 a.
  • a transmission system 34 with toothed wheels joins together in rotation the motor shaft 32 a and a second shaft 32 b on which the second cutting blade 24 b is mounted.
  • the set of toothed wheels of the transmission system may be replaced by a belt drive.
  • the two cutting blades 24 a and 24 b are integral in rotation with each other and in rotation with the drive motor 30 .
  • the cutting unit 20 finally includes a control unit 40 of the electric motor.
  • the control unit includes a first electronic card 42 dedicated to the management of the electric power supply to the motor from a battery 44 visible on FIG. 1 .
  • the first electronic card 42 is capable of controlling voltages and a sequence of voltages applied to the different windings of the stator of the motor 30 to set the rotation of the motor, the direction of rotation of the motor and the rotation speed of the motor.
  • the control unit 40 also includes a second electronic card 47 intended for the determination of an induction current by the rotor in one or more windings of the stator of the motor 30 .
  • the second electronic card includes one or more current measuring circuits connected to one or more stator windings. It also receives control data of the motor from the first electronic card 42 . Based on the measured currents and based on the induction current derived from it, the second electronic card 47 is able in particular to estimate the position of the rotor in rotation and its movement. This is equivalent to measuring the rotation or absence of rotation of the blades integral in rotation with the motor 30 .
  • the second electronic card 47 and the current measuring circuits may also be used to determine a global supply current of the motor and derive a blockage situation of the motor from an abnormal increase of this current.
  • control unit 40 Other electronic cards 48 of the control unit 40 are provided for accessory functions of the control unit such as the control of electric motors propelling the mower forward, the control of the electric jack 16 mentioned previously or also of the interface 18 .
  • FIG. 3 illustrates the operation of the mower and in particular the control of the electric blade drive motor 30 .
  • the reference 100 of FIG. 3 corresponds to a rest phase of the electric motor 30 in which it is not supplied with power.
  • the motor and the blades do not turn.
  • the rest phase 100 is used for example while the mower is in storage, when it is not in use or during a human intervention on the cutting blades for example.
  • a startup of the motor can be caused, for example, by an action of the operator on a push button or a key switch of the interface 18 shown on FIG. 1 .
  • the startup of the electric motor marks the passage from the rest phase 100 to a mowing phase 102 during which the electric blade drive motor is supplied with power for a rotation in a first direction of rotation.
  • the first direction of rotation corresponds also to a direction of rotation of the blades that is suitable for mowing.
  • the mower is usable for mowing plants, and if applicable, for collecting the mowed plant material in the collection bin 26 .
  • the passage from the rest phase 100 to the mowing phase 102 at the moment of startup may take place in three ways.
  • the passage from the rest phase to the mowing phase may be immediate.
  • the cutting blades are then activated in rotation in the plant cutting direction.
  • the passage from the rest phase to the mowing phase may take place through the intermediary of a blade startup phase 108 .
  • the startup phase 108 is a transitory phase of short duration during which the electric blade drive motor is powered for a rotation in the second direction of rotation, opposite to the first direction of rotation.
  • the blade startup phase may be accompanied by the command of a lifting 150 of the cutting unit thereby limiting, if necessary, the cut resistance at the cutting blades.
  • the passage through the startup phase 108 may be conditional on a step 112 of verification of no blade blockage.
  • the verification takes places, for example, by powering the electric motor for a rotation in the first direction of rotation, and by verifying whether the rotation sensor 46 ( FIG. 2 ) emits a rotation signal.
  • the verification step 112 is immediately followed by the mowing phase 102 as indicated by an arrow 114 .
  • the verification step may be followed by the blade startup phase 108 , as indicated by the arrow 116 .
  • the startup phase may also include, or be followed by a step 122 of verification of no blockage as indicated by the arrow 120 . This step is comparable to the step 112 of verification of no blockage mentioned previously.
  • the blade startup phase 108 is followed, as indicated by an arrow 126 , by a dislodging phase 128 .
  • the dislodging operation 128 includes, as mentioned previously, a rapid sequence of powering the electric motor in the first and in the second direction of rotation.
  • the dislodging operation amounts, in some way, to repeating several times a blade startup operation in opposite directions of rotation.
  • a new step 132 of verification of no blade blockage is provided at the end of the dislodging step.
  • the verification step 132 is able to observe-an unblocking, that is to say a rotation of the motor, and thus by the blades, it is followed, as the arrow 134 shows, by the mowing phase 102 .
  • a failure to unblock noted in the verification step 132 after a predetermined number of rotation attempts in the opposite direction, or after a predetermined duration, is followed, as the arrow 136 shows, by a return to the rest phase so as to possibly perform a maintenance or manual operation to unblock the blades.
  • This return phase is possibly associated to the presentation of a defect signal to the operator (visual or acoustic signal, . . . ).
  • the reference 142 indicates a possible control operation of the rotation which, as the arrow 140 shows, may take place during the mowing phase 102 . This may be a continuous or periodic verification of the rotation of the blade drive motor or a rotation of the blades. It is comparable to the verification steps 112 , 122 and 132 mentioned previously.
  • the mowing phase 102 is continued as indicated by an arrow 144 .
  • control of the motor may repeat the blade startup phase 108 as indicated by an arrow 146 . It may possibly be accompanied by a lifting 150 of the cutting unit.
  • FIG. 3 only illustrates one particular possibility of controlling the blade drive motor.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Control Of Electric Motors In General (AREA)
US15/770,318 2015-12-23 2016-12-06 Electric mower with automatic blade unblocking and method for controlling the mower Abandoned US20180310471A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR15/63189 2015-12-23
FR1563189A FR3046024B1 (fr) 2015-12-23 2015-12-23 Tondeuse electrique a deblocage automatique de lame et procede de pilotage de la tondeuse.
PCT/FR2016/053228 WO2017109319A1 (fr) 2015-12-23 2016-12-06 Tondeuse électrique à déblocage automatique de lame et procédé de pilotage de la tondeuse

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US20180310471A1 true US20180310471A1 (en) 2018-11-01

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US15/770,318 Abandoned US20180310471A1 (en) 2015-12-23 2016-12-06 Electric mower with automatic blade unblocking and method for controlling the mower

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US (1) US20180310471A1 (zh)
EP (1) EP3393229B1 (zh)
JP (1) JP2019506149A (zh)
KR (1) KR20180096774A (zh)
CN (1) CN108430210B (zh)
BR (1) BR112018010881A2 (zh)
FR (1) FR3046024B1 (zh)
WO (1) WO2017109319A1 (zh)

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US10687464B2 (en) 2017-01-12 2020-06-23 Briggs & Stratton Corporation Zero turn radius mower controls
US20200375091A1 (en) * 2018-02-26 2020-12-03 Honda Motor Co., Ltd. Work machine for handling work object
US11363756B2 (en) * 2018-03-09 2022-06-21 Honda Motor Co., Ltd. Work machine for lessening damage resulting from an object coming into contact with work portion
US11437936B2 (en) 2018-07-16 2022-09-06 Briggs & Stratton, Llc Outdoor power equipment with distributed motor controllers
EP4111847A1 (en) * 2021-06-28 2023-01-04 Kubota Corporation Riding grass mower
US11712001B2 (en) 2019-10-11 2023-08-01 Briggs & Stratton, Llc Electric motor for outdoor power equipment
DE202023100319U1 (de) 2023-01-24 2024-02-08 AL-KO Production Austria GmbH Mobiles Rasenbehandlungsgerät
US11925142B2 (en) 2019-10-11 2024-03-12 Ariens Company Electric motor and blade assembly for a lawn mower

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US11425856B2 (en) 2017-01-12 2022-08-30 Briggs & Stratton, Llc Zero turn radius mower with cutting blade control
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US11925142B2 (en) 2019-10-11 2024-03-12 Ariens Company Electric motor and blade assembly for a lawn mower
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CN108430210B (zh) 2021-07-06
FR3046024A1 (fr) 2017-06-30
EP3393229A1 (fr) 2018-10-31
EP3393229B1 (fr) 2019-10-02
CN108430210A (zh) 2018-08-21
KR20180096774A (ko) 2018-08-29
BR112018010881A2 (pt) 2018-11-21
FR3046024B1 (fr) 2018-05-18
JP2019506149A (ja) 2019-03-07
WO2017109319A1 (fr) 2017-06-29

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